Official cross-session (Table 1) U-Net results: 3 folds x 3 seeds

crosssession_official/results_crosssession/ALLSETUPS_SUMMARY.md

@@ -0,0 +1,64 @@
+# DLoc vs MobileNetV2-UNet — All Setups, Official Protocol
+
+Both models run under identical data splits + meters metric across every runnable paper setup (Fig 10b, Table 1 folds, Fig 13b). Median / P90 / P99 in meters, mean +/- std across seeds.
+
+
+## Fig 10b: in-distribution (Jul28)  (`rw_to_rw`)
+
+U-Net seeds: none | Baseline seeds: none
+
+| Model | Median (m) | P90 (m) | P99 (m) |
+|-------|-----------|---------|---------|
+| MobileNetV2-UNet (ours) | -- | -- | -- |
+| DLoc baseline (reproduced) | -- | -- | -- |
+| DLoc baseline (paper, ref) | 0.64 | 1.60 | -- |
+
+## Table 1: test Aug16_1 (furniture)  (`rw_to_rw_env2`)
+
+U-Net seeds: [42, 123, 777] | Baseline seeds: none
+
+| Model | Median (m) | P90 (m) | P99 (m) |
+|-------|-----------|---------|---------|
+| MobileNetV2-UNet (ours) | 0.852 +/- 0.036 | 1.839 +/- 0.055 | 5.197 +/- 0.180 |
+| DLoc baseline (reproduced) | -- | -- | -- |
+| DLoc baseline (paper, ref) | 0.71 | 1.71 | -- |
+
+## Table 1: test Aug16_3 (diff furniture)  (`rw_to_rw_env3`)
+
+U-Net seeds: [42, 123, 777] | Baseline seeds: none
+
+| Model | Median (m) | P90 (m) | P99 (m) |
+|-------|-----------|---------|---------|
+| MobileNetV2-UNet (ours) | 0.822 +/- 0.032 | 2.793 +/- 0.114 | 9.457 +/- 0.445 |
+| DLoc baseline (reproduced) | -- | -- | -- |
+| DLoc baseline (paper, ref) | 0.82 | 2.52 | -- |
+
+## Table 1: test Aug16_4_ref (reflector)  (`rw_to_rw_env4`)
+
+U-Net seeds: [42, 123, 777] | Baseline seeds: none
+
+| Model | Median (m) | P90 (m) | P99 (m) |
+|-------|-----------|---------|---------|
+| MobileNetV2-UNet (ours) | 1.116 +/- 0.013 | 2.489 +/- 0.025 | 6.834 +/- 0.246 |
+| DLoc baseline (reproduced) | -- | -- | -- |
+| DLoc baseline (paper, ref) | 1.05 | 2.77 | -- |
+
+## Fig 13b: across space (disjoint)  (`data_segment`)
+
+U-Net seeds: none | Baseline seeds: none
+
+| Model | Median (m) | P90 (m) | P99 (m) |
+|-------|-----------|---------|---------|
+| MobileNetV2-UNet (ours) | -- | -- | -- |
+| DLoc baseline (reproduced) | -- | -- | -- |
+| DLoc baseline (paper, ref) | -- | -- | -- |
+
+## Summary — Median (m), mean +/- std across seeds
+
+| Fold | U-Net (ours) | Baseline (repro) | DLoc (paper) |
+|------|--------------|------------------|--------------|
+| Fig 10b: in-distribution (Jul28) | -- | -- | 0.64 |
+| Table 1: test Aug16_1 (furniture) | 0.852 +/- 0.036 | -- | 0.71 |
+| Table 1: test Aug16_3 (diff furniture) | 0.822 +/- 0.032 | -- | 0.82 |
+| Table 1: test Aug16_4_ref (reflector) | 1.116 +/- 0.013 | -- | 1.05 |
+| Fig 13b: across space (disjoint) | -- | -- | -- |

crosssession_official/results_crosssession/unet_rw_to_rw_env2_seed123.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env2",
+  "seed": 123,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 0.806225774829855,
+  "best_p90": 1.8439088914585777,
+  "best_p99": 5.021951811795889,
+  "best_epoch": 53,
+  "run_dir": "./runs/unet_rw_to_rw_env2_seed123_2026-06-17-11-27-27"
+}

crosssession_official/results_crosssession/unet_rw_to_rw_env2_seed42.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env2",
+  "seed": 42,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 0.8544003745317532,
+  "best_p90": 1.7691806012954134,
+  "best_p99": 5.4451813560247935,
+  "best_epoch": 58,
+  "run_dir": "./runs/unet_rw_to_rw_env2_seed42_2026-06-17-05-41-52"
+}

crosssession_official/results_crosssession/unet_rw_to_rw_env2_seed777.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env2",
+  "seed": 777,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 0.894427190999916,
+  "best_p90": 1.9026297590440449,
+  "best_p99": 5.1244511901275835,
+  "best_epoch": 40,
+  "run_dir": "./runs/unet_rw_to_rw_env2_seed777_2026-06-17-16-36-49"
+}

crosssession_official/results_crosssession/unet_rw_to_rw_env3_seed123.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env3",
+  "seed": 123,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 0.7810249675906655,
+  "best_p90": 2.9154759474226504,
+  "best_p99": 9.986394092413022,
+  "best_epoch": 40,
+  "run_dir": "./runs/unet_rw_to_rw_env3_seed123_2026-06-17-12-55-12"
+}

crosssession_official/results_crosssession/unet_rw_to_rw_env3_seed42.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env3",
+  "seed": 42,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 0.8246211251235323,
+  "best_p90": 2.6400757564888173,
+  "best_p99": 8.896480723091088,
+  "best_epoch": 67,
+  "run_dir": "./runs/unet_rw_to_rw_env3_seed42_2026-06-17-07-09-47"
+}

crosssession_official/results_crosssession/unet_rw_to_rw_env3_seed777.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env3",
+  "seed": 777,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 0.8602325267042628,
+  "best_p90": 2.823118842698621,
+  "best_p99": 9.487353688259615,
+  "best_epoch": 72,
+  "run_dir": "./runs/unet_rw_to_rw_env3_seed777_2026-06-17-18-07-59"
+}

crosssession_official/results_crosssession/unet_rw_to_rw_env4_seed123.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env4",
+  "seed": 123,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 1.1,
+  "best_p90": 2.5238858928247927,
+  "best_p99": 7.100915416139971,
+  "best_epoch": 58,
+  "run_dir": "./runs/unet_rw_to_rw_env4_seed123_2026-06-17-14-25-08"
+}

crosssession_official/results_crosssession/unet_rw_to_rw_env4_seed42.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env4",
+  "seed": 42,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 1.1313708498984762,
+  "best_p90": 2.4738633753705965,
+  "best_p99": 6.508473575021384,
+  "best_epoch": 52,
+  "run_dir": "./runs/unet_rw_to_rw_env4_seed42_2026-06-17-09-21-36"
+}

crosssession_official/results_crosssession/unet_rw_to_rw_env4_seed777.json

@@ -0,0 +1,12 @@
+{
+  "model": "unet",
+  "env": "rw_to_rw_env4",
+  "seed": 777,
+  "epochs": 120,
+  "n_params": 2409217,
+  "best_median": 1.118033988749895,
+  "best_p90": 2.4698178070456938,
+  "best_p99": 6.894042308015492,
+  "best_epoch": 63,
+  "run_dir": "./runs/unet_rw_to_rw_env4_seed777_2026-06-17-19-35-53"
+}